US10603799B2 - System for use with encoded end effectors and related methods of use - Google Patents

System for use with encoded end effectors and related methods of use Download PDF

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US10603799B2
US10603799B2 US15/639,544 US201715639544A US10603799B2 US 10603799 B2 US10603799 B2 US 10603799B2 US 201715639544 A US201715639544 A US 201715639544A US 10603799 B2 US10603799 B2 US 10603799B2
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Prior art keywords
end effector
inertia
motor
sensor
detectable
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US15/639,544
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US20190001503A1 (en
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Scott Straka
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LOreal SA
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LOreal SA
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Priority to US15/639,544 priority Critical patent/US10603799B2/en
Assigned to L'OREAL reassignment L'OREAL ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: STRAKA, SCOTT
Priority to EP18743880.9A priority patent/EP3644791B1/en
Priority to KR1020207002859A priority patent/KR102329402B1/ko
Priority to JP2019572058A priority patent/JP6865307B2/ja
Priority to PCT/US2018/038211 priority patent/WO2019005534A1/en
Priority to ES18743880T priority patent/ES2972404T3/es
Priority to CN201880049575.9A priority patent/CN110958848B/zh
Publication of US20190001503A1 publication Critical patent/US20190001503A1/en
Publication of US10603799B2 publication Critical patent/US10603799B2/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B13/00—Brushes with driven brush bodies or carriers
    • A46B13/02—Brushes with driven brush bodies or carriers power-driven carriers
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B15/00—Other brushes; Brushes with additional arrangements
    • A46B15/0002—Arrangements for enhancing monitoring or controlling the brushing process
    • A46B15/0004—Arrangements for enhancing monitoring or controlling the brushing process with a controlling means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
    • A61C17/00—Devices for cleaning, polishing, rinsing or drying teeth, teeth cavities or prostheses; Saliva removers; Dental appliances for receiving spittle
    • A61C17/16—Power-driven cleaning or polishing devices
    • A61C17/22—Power-driven cleaning or polishing devices with brushes, cushions, cups, or the like
    • A61C17/221—Control arrangements therefor
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B13/00—Brushes with driven brush bodies or carriers
    • A46B13/008—Disc-shaped brush bodies
    • A—HUMAN NECESSITIES
    • A46—BRUSHWARE
    • A46B—BRUSHES
    • A46B2200/00—Brushes characterized by their functions, uses or applications
    • A46B2200/10—For human or animal care
    • A46B2200/102—Brush specifically designed for massaging the skin or scalp

Definitions

  • Examples of the present disclosure seek to address the problems associated with identifying an end effector coupled to a system or appliance, such as a handheld personal care appliance, and operating according to protocols or parameters corresponding to the identified end effector.
  • examples described herein relate to systems and appliances that include a sensor configured to detect a presence or absence of a detectable element associated with a detachable end effector operably coupleable to a motor and a computing arrangement including circuitry configured to actuate the motor and to determine an inertia of the end effector.
  • Such systems are configured to identify an end effector coupled to the system and operate in a manner and according to parameters corresponding to the identified end effector coupled to the system.
  • the present disclosure provides a system generally including a first sensor configured to detect a presence or absence of a detectable element associated with a detachable end effector operably coupled to a motor; and a computing arrangement including circuitry configured to actuate the motor and to determine an inertia of the end effector.
  • the present disclosure provides an appliance generally including an end effector operably coupled to a motor, the end effector including a number of detectable elements greater than or equal to zero; a plurality of sensors configured to detect the presence or absence of the number of detectable elements; and a computing arrangement including circuitry configured to actuate the motor and to determine an inertia of the end effector; wherein the computing arrangement is configured to identify the end effector based on a measurand associated with the number detectable elements and the inertia of the end effector.
  • a sensor is configured to detect an attribute associated with the detectable element chosen from at least one of a location, a polarity, a magnetic susceptibility, a magnitude of a magnetic field, a geometric arrangement, a magnetic field distribution, and a capacitance.
  • a sensor is configured to detect an attribute associated with two or more detectable elements chosen from a geometric configuration, a location, a polarity, a magnetic susceptibility, a magnitude of a magnetic field, a geometric arrangement, a magnetic field distribution, and a capacitance.
  • the computing arrangement includes circuitry configured to actuate the motor and to determine the inertia of the end effector based on one or more signal parameters associated with actuation of the motor chosen from a signal amplitude, a signal frequency, and a signal waveform shape.
  • the computing arrangement includes circuitry configured to modulate one or more of an operating frequency, an operating duration, an operating intensity, a haptic protocol, a treatment protocol, and a duty cycle responsive to one or more inputs indicative of a detected element and a determined inertia of the end effector.
  • the one or more inputs indicative of a detected element are an attribute associated with the detectable element.
  • a detectable element includes at least one magnet.
  • a sensor is chosen from a Hall effect sensor, a capacitance sensor, an inductance sensor, and a magnetic susceptibility.
  • the system or appliance includes a second sensor associated with the system, wherein the second sensor is configured to detect a presence or absence of a detectable element associated with the end effector.
  • the second sensor is configured to detect an attribute associated with the detectable element chosen from a location, a polarity, a magnetic susceptibility, a magnitude of the magnetic field, and a capacitance.
  • the number of sensors is greater than the number of detectable elements.
  • the computing arrangement is configured to identify the end effector based on the presence or absence of the detectable element and the inertia of the end effector.
  • the computing arrangement including circuitry configured to actuate the motor and to determine an inertia of the end effector is configured to determine a rotational inertia of the end effector, and wherein the computing arrangement is configured to: actuate the motor with a known force to oscillate the end effector about a starting position; count the number of times the end effector passes the starting position in a given time; and calculate the rotational inertia of the end effector.
  • the computing arrangement including circuitry configured to actuate the motor and to determine an inertia of the end effector is configured to determine a rotational inertia of the end effector, and wherein the computing arrangement is configured to: actuate the motor with a known force to oscillate the end effector about a starting position; measure a maximum amplitude of the end effector oscillation after a given time; and calculate the rotational inertia of the end effector.
  • the end effector is a first end effector, wherein the motor is configured to operably couple to a second end effector when the first end effector is not in use, and wherein the computing arrangement includes circuitry configured to modulate one or more of an operating frequency, an operating duration, an operating intensity, a haptic protocol, a treatment protocol, and a duty cycle responsive to one or more inputs indicative of a detected element and a determined inertia of the second end effector.
  • the second end effector includes a second detectable element different from the detectable element of the first end effector; and wherein the first sensor is configured to detect signals indicative of the presence or absence of the second detectable element.
  • the second end effector has an inertia different from the first end effector.
  • the present disclosure provides a method of identifying an end effector coupled to a motor of system comprising: generating inertia information associated with the end effector; and determining the identity of the end effector based on the presence or absence of a number of detectable elements associated with the end effector and at least one input indicative of the inertia of the end effector.
  • generating inertia information associated with the end effector includes generating rotational inertia information; and wherein the rotational inertia information is generated by: actuating the motor with a known force to oscillate the end effector about a starting position; counting the number of times the end effector passes the starting position in a given time; and calculating the rotational inertia of the end effector.
  • generating inertia information associated with the end effector includes generating rotational inertia information; and wherein the rotational inertia information is generated by: actuating the motor with a known force to oscillate the end effector about a starting position; measuring a maximum amplitude of the end effector oscillation decay after a given time; and calculating the rotational inertia of the end effector.
  • FIG. 1 is a side view of a system in accordance with an aspect of the disclosure coupled to an end effector;
  • FIG. 2 is a side view of another system in accordance with an aspect of the disclosure coupled to an end effector;
  • FIG. 3 is a side view of the system of FIG. 2 coupled to another end effector;
  • FIG. 4 is a side view of the system of FIG. 2 coupled to another end effector;
  • FIG. 5 schematically illustrates a system in accordance with an aspect of the disclosure coupled to an end effector
  • FIG. 6 schematically illustrates the system of FIG. 5 , an end effector coupled to the system, and a second end effector coupleable to the system.
  • the present disclosure relates generally to handheld personal care appliances, systems, and methods.
  • personal care appliances typically use end effectors to produce a desired effect on a portion of a body of a user.
  • Examples of such appliances include power skin brushes, power toothbrushes, and shavers, among others.
  • a given personal care appliance may operably couple with a variety of end effectors and include a variety of treatment protocols corresponding to the particular end effectors. If the appliance operates a motor according to a protocol intended for an end effector with a larger or smaller inertia, for example, than the one coupled to the motor the predetermined operation parameters may not be executed properly. Additionally, end effectors having the same or similar inertias may have different, for example, end effectors surfaces and intended uses. Further, after extended use an end effector may be worn or dirty, requiring replacement. It would be useful to provide to a user an indication that an end effector should be replaced.
  • the following discussion provides examples of systems that include a first sensor configured to detect a presence or absence of a detectable element associated with a detachable end effector operably coupleable to a motor.
  • the system further includes a computing arrangement including circuitry configured to actuate the motor and to determine an inertia of the end effector.
  • the computing arrangement is configured to identify the end effector operably coupled to the motor and to operate the motor according to one or more protocols corresponding to the end effector.
  • FIG. 1 illustrates a representative system 20 coupled to an end effector 40 , together a personal care appliance.
  • the end effector 40 includes a detectable element 42 associated with the effector 40 .
  • the system 20 further includes a sensor 44 configured to detect a presence or absence of the detectable element 42 .
  • the sensor is configured to detect an attribute associated with the detectable element 42 .
  • the attribute associated with the detectable element 42 is chosen from a location, a geometric arrangement, a magnetic field distribution, a polarity, a magnetic susceptibility, a magnitude of a magnetic field, a capacitance of the detectable element 42 , and the like.
  • the attribute associated with the detectable element 42 is a difference between a reference condition and at least one of a location, a geometric arrangement, a magnetic field distribution, a polarity, a magnetic susceptibility, a magnitude of a magnetic field, a capacitance of the detectable element 42 , and the like.
  • the system 20 is configured to identify the end effector 40 .
  • the end effector 40 includes two or more detectable elements 42 associated with the end effector 40 .
  • the end effector 40 includes 3, 4, 5, 6, 7, 8, 9, 10, or more detectable elements associated with the end effector 40 .
  • the end effector 40 includes no detectable elements 42 associated with the end effector 40 .
  • the two or more detectable elements 42 are distributed radially equidistant about the end effector 40 .
  • one or each detectable element 42 is a magnet. In another embodiment, one or each detectable element 42 includes a capacitive element.
  • the senor 44 is a Hall effect sensor. In an embodiment, the sensor 44 is a capacitive sensor and one or each detectable element 42 includes a capacitive element. In an embodiment, the sensor 44 is an inductance sensor. In an embodiment, the sensor 44 is a magnetic susceptibility sensor.
  • the senor 44 is configured to detect an attribute associated with two or more detectable elements 42 associated with the end effector 40 . In an embodiment, the sensor 44 is configured to detect a difference in an attribute associated with two or more detectable elements 42 associated with the end effector 40 . In an embodiment, the attribute associated with two or more detectable elements 42 is chosen from a geometric configuration, a location, a polarity, a magnetic susceptibility, a magnitude of a magnetic field, and a capacitance.
  • system 20 includes two or more sensors.
  • FIG. 2 where representative embodiments of a system 20 and an end effector 40 a are illustrated.
  • system 20 includes sensors 44 a , 44 b , and 44 c configured to detect an attribute associated with detectable elements 42 a , 42 b , and 42 c associated with the end effector 40 a .
  • the plurality of sensors 44 a , 44 b , and 44 c and corresponding detectable elements 42 a , 42 b , and 42 c allow for additional degrees of encoding of the end effector 40 a over an end effector including a single detectable element and a single sensor.
  • the system 20 is configured to detect an attribute associated with two or more of the detectable elements 42 a , 42 b , and 42 c . Further, in this regard, the system 20 is configured to identify a number of end effectors 40 based, in part, upon detecting attributes associated with the two or more detectable elements 42 a , 42 b , and 42 c . Additionally, in this regard, the system 20 is configured to distinguish between end effectors 40 having the same or a similar inertia, but with, for example, different end effector surfaces or intended function.
  • the number of detectable elements associated with an end effector 40 is fewer than the number of sensors.
  • FIG. 3 where representative embodiments of a system 20 are illustrated that includes sensors 44 a , 44 b , and 44 c .
  • detectable elements 42 d and 42 e are associated with the end effector 40 b .
  • Sensors 44 a and 44 b are configured to detect an attribute associated with detectable elements 42 d and 42 e , respectively.
  • the end effector 40 b does not include a detectable element immediately proximate or corresponding to sensor 44 c .
  • the system 20 is configured to distinguish between end effectors 40 a and 40 b at least in part on the basis of a different number of detectable elements associated with each end effector. Accordingly, as will be described further herein, the system 20 is configured to operate the motor 60 to execute different protocols associated with each end effector 40 a and 40 b.
  • the system 20 includes a sensor 44 is configured to detect an attribute associated with the detectable element 42 chosen from a location, a polarity, a magnetic susceptibility, a magnitude of a magnetic field, and a capacitance.
  • FIG. 4 illustrates a system 20 including end effector 40 c carrying detectable elements 42 f and 42 g , wherein the detectable elements 42 f and 42 g are magnets carried at positions on end effector 40 c .
  • magnetic detectable elements 42 f and 42 g each have a polarity, represented by poles N and S.
  • detectable element 42 f is carried by end effector 40 c at a position and in an orientation with respect to sensor 44 a so that pole N is closer to sensor 44 a than pole S.
  • sensor 44 a is configured to detect the presence or absence of detectable element 42 f and also its orientation with respect to sensor 44 a .
  • detectable element 42 g is carried by end effector 40 c at a position and in an orientation with respect to sensor 44 b so that pole S is closer to sensor 44 b than pole N.
  • sensor 44 b is configured to detect the presence or absence of detectable element 42 g and also its orientation with respect to sensor 44 b.
  • the system 20 is configured to detect a number of levels of encoding of an end effector 40 in addition to the presence or absence of one or more detectable elements 42 .
  • Such additional levels of encoding allow the system 20 to identify many different end effectors 40 .
  • a system including three sensors configured to detect the presence or absence of up to three detectable elements and an attribute of that detectable element 42 , such as a magnetic polarity, is configured to individually identify eleven different end effectors 40 .
  • the system 20 includes a computing arrangement including circuitry configured to actuate the motor 60 and to determine an inertia of the end effector 40 .
  • electronics interact with the end effector 40 d , including detectable element 42 e , to identify the end effector 40 d .
  • the electronics include a computing arrangement 80 , a motor 60 , and a power storage source 100 , such as a rechargeable battery.
  • the computing arrangement 80 includes circuitry 82 , such as memory 84 and a microprocessor 86 , that is configured and arranged to control the operation of the motor 60 .
  • the computing arrangement 80 includes circuitry 82 configured to actuate the motor 60 and to determine an inertia of the end effector 40 d based on one or more signal parameters associated with actuation of the motor 60 .
  • the one or more signal parameters associated with actuation of the motor 60 are chosen from a signal amplitude, a signal frequency, and a signal waveform shape.
  • the computing arrangement 80 including circuitry 82 configured to actuate the motor 60 and to determine an inertia of the end effector 40 d is configured to determine a rotational inertia of the end effector 40 d .
  • the computing arrangement 80 is configured to actuate the motor 60 with a known force to oscillate the end effector 40 d about a starting position; count the number of times the end effector 40 d passes the starting position in a given time; and calculate the rotational inertia of the end effector 40 d .
  • the computing arrangement 80 is configured to determine a rotational inertia of the end effector 40 d , wherein the computing arrangement 80 is configured to: actuate the motor 60 with a known force to oscillate the end effector 40 d about a starting position; measure a maximum amplitude of the end effector 40 d oscillation after a given time; and calculate the rotational inertia of the end effector 40 d.
  • the computing arrangement 60 includes circuitry 82 configured to actuate the motor 60 and to determine the inertia of the end effector 40 based on one or more signal parameters associated with actuation of the motor 60 .
  • the signals are generated by one or more sensors 44 a and 44 b in response to a detectable element 42 e.
  • the system 20 includes two or more end effectors 40 configured to operably couple with the motor 60 .
  • FIG. 6 a schematic representation of a system 20 , in accordance with the present aspect, is illustrated.
  • the system 20 includes a first end effector 40 e including a detectable element 42 f .
  • the first end effector 40 e is operably coupled to the motor 60 .
  • the system 20 includes sensors 44 a and 44 b configured to detect the presence or absence of a detectable element associated with either detachable end effectors 40 e or 40 f operably coupleable to the motor 60 .
  • sensor 44 a is configured to detect the presence of detectable element 42 f
  • sensor 44 b is configured to detect the absence of a detectable element opposite detectable element 42 f
  • the system 20 includes a second end effector 40 f including detectable elements 42 g and 42 h .
  • the motor 60 is configured to operably couple to the second end effector 40 f when the first end effector 40 e is not in use.
  • sensors 44 a and 44 b are configured to detect detectable elements 42 g and 42 h , respectively, when end effector 40 f is operably coupled to the motor 60 .
  • the second end effector 40 f has an inertia different from the first end effector 40 e .
  • the system 20 is configured to differentiate between the first end effector 40 e and the second end effector 40 f based on a difference in inertia of the end effectors 40 e and 40 f and any differences in detectable elements 42 f , 42 g , and 42 h associated with their respective end effectors, 40 e and 40 f.
  • the computing arrangement 80 includes circuitry 82 , such as a microprocessor 86 and memory 84 , that is configured and arranged to control the operation of the motor 60 .
  • the memory 84 includes one or more programs, which, for example, when executed by the microprocessor 86 causes the motor 60 to be operated according to a treatment regimen or protocol.
  • the system 20 is configured with at least two drive modes that drive an end effector 40 , such as a brush head, in a manner that effectuates at least two treatment regimens or protocols, such as protocol 1 and protocol 2 . Accordingly, in certain embodiments, when an end effector is identified by the computing arrangement 80 , the computing arrangement 80 is programmed to execute a protocol corresponding to the identified end effector 40 and actuate the motor 60 .
  • an end effector 40 such as a brush head
  • the system 20 is configured to couple with one or more end effectors, 40 e and 40 f , and through detecting the presence or absence of detectable elements 42 and determining an inertia of the end effector 40 , operate the motor 60 according to a protocol corresponding to the particular end effector 40 e or 40 f coupled to the motor 60 .
  • the computing arrangement 80 includes circuitry 82 configured to modulate one or more of an operating frequency, an operating duration, an operating intensity, a haptic protocol, a treatment protocol, and a duty cycle responsive to one or more inputs indicative of a detected element 42 and a determined inertia of an end effector 40 .
  • the one or more inputs are indicative of a detectable element 42 are an attribute associated with the detectable element 42 .
  • the present disclosure provides a system 20 includes an end effector 40 operably coupled to a motor 60 , the end effector 40 including a number of detectable elements 42 greater than or equal to zero; a plurality of sensors 44 configured to detect the presence or absence of the number of detectable elements 42 ; and a computing arrangement 80 including circuitry 82 configured to actuate the motor 60 and to determine an inertia of the end effector 40 ; wherein the computing arrangement 80 is configured to identify the end effector 40 based on a measurand associated with the number detectable elements 42 and the inertia of the end effector 40 .
  • the measurand is chosen from a geometric configuration, a location, a polarity, a magnetic susceptibility, a magnitude of a magnetic field, and a capacitance of the number of detectable elements 42 .
  • the present disclosure provides a method of identifying an end effector 40 coupled to a motor 60 of a system 20 .
  • a representative method of using the system 20 with a first end effector 40 e and a second end effector 40 f will now be described in some detail with respect to FIG. 6 .
  • the system 20 can operate a motor 60 according to a treatment regimen or protocol corresponding to and appropriate for the particular end effector 40 coupled to the system 20 .
  • the method includes: detecting, with one or a plurality of sensors 44 , the presence or absence of a number of detectable elements 42 associated with the end effector 40 , the number of detectable elements 42 being greater than or equal to zero; actuating the motor 60 to determine an inertia of the end effector 40 ; and determining the identity of the end effector 40 based on the presence or absence of the number of detectable elements 42 and the inertia of the end effector 40 .
  • the method includes generating inertia information associated with the end effector 40 ; and determining the identity of the end effector 40 based on the presence or absence of a number of detectable elements 42 associated with the end effector 40 and at least one input indicative of the inertia of the end effector 40 .
  • determining an inertia of the end effector 40 includes generating inertia information associated with the end effector 40 .
  • generating inertia information associated with the end effector 40 includes generating rotational inertia information associated with the end effector 40 .
  • rotational inertia information is generated by: actuating the motor 60 with a known force to oscillate the end effector 40 about a starting position; counting the number of times the end effector 40 passes the starting position in a given time; and calculating the rotational inertia of the end effector 40 .
  • a motor spring constant is fixed.
  • generating inertia information associated with the end effector 40 includes actuating the motor 60 and monitoring a change in a change in load to determine inertia information associated with of the end effector 40 .
  • rotational inertia information is generated by: actuating the motor 60 with a known force to oscillate the end effector 40 about a starting position; measuring a maximum amplitude of the end effector 40 oscillation decay after a given time; and calculating the rotational inertia of the end effector 40 .
  • a damping coefficient of the system 20 is held constant and the method includes measuring when end effector 40 oscillation reaches a particular amplitude.
  • the method of identifying an end effector 40 coupled to a motor 60 of a system 20 includes detecting, with a plurality of sensors 44 , the presence or absence of a number of detectable elements 42 associated with the end effector 40 , the number of detectable elements 42 being greater than or equal to zero.
  • the system is configured to execute a protocol corresponding to the identified end effector.
  • detecting the presence or absence of a number of detectable elements 42 includes detecting an attribute associated with the number of detectable elements 42 .
  • the attribute associated with the number of detectable elements 42 includes an attribute chosen from a location, a polarity, a magnetic susceptibility, a magnitude of a magnetic field, and a capacitance of the number of detectable elements 42 .
  • the number of detectable elements 42 includes two or more detectable elements 42 .
  • detecting the presence or absence of a number of detectable elements 42 includes detecting an attribute associated with the number of detectable elements 42 , wherein the attribute is chosen from a geometric configuration, a location, a polarity, a magnetic susceptibility, a magnitude of a magnetic field, and a capacitance of the two or more detectable elements.
  • circuitry in order to implement treatment protocols, operably couple two or more components, generate information, determine operation conditions, control an appliance or method, and/or the like.
  • Circuitry of any type can be used.
  • circuitry includes, among other things, one or more computing devices such as a processor (e.g., a microprocessor), a central processing unit (CPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or the like, or any combinations thereof, and can include discrete digital or analog circuit elements or electronics, or combinations thereof.
  • circuitry includes one or more ASICs having a plurality of predefined logic components.
  • circuitry includes one or more FPGA having a plurality of programmable logic components.
  • circuitry includes hardware circuit implementations (e.g., implementations in analog circuitry, implementations in digital circuitry, and the like, and combinations thereof). In an embodiment, circuitry includes combinations of circuits and computer program products having software or firmware instructions stored on one or more computer readable memories that work together to cause a device to perform one or more methodologies or technologies described herein. In an embodiment, circuitry includes circuits, such as, for example, microprocessors or portions of microprocessor, that require software, firmware, and the like for operation. In an embodiment, circuitry includes an implementation comprising one or more processors or portions thereof and accompanying software, firmware, hardware, and the like.
  • circuitry includes a baseband integrated circuit or applications processor integrated circuit or a similar integrated circuit in a server, a cellular network device, other network device, or other computing device.
  • circuitry includes one or more remotely located components.
  • remotely located components are operably coupled via wireless communication.
  • remotely located components are operably coupled via one or more receivers, transmitters, transceivers, or the like.
  • circuitry includes one or more memory devices that, for example, store instructions or data.
  • memory devices include volatile memory (e.g., Random Access Memory (RAM), Dynamic Random Access Memory (DRAM), or the like), non-volatile memory (e.g., Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or the like), persistent memory, or the like.
  • RAM Random Access Memory
  • DRAM Dynamic Random Access Memory
  • non-volatile memory e.g., Read-Only Memory (ROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Compact Disc Read-Only Memory (CD-ROM), or the like
  • persistent memory or the like.
  • EPROM Erasable Programmable Read-Only Memory
  • the one or more memory devices can be coupled to, for example, one or more computing devices by one or more instructions, data, or power buses.
  • circuitry of the system 20 includes one or more computer-readable media drives, interface sockets, Universal Serial Bus (USB) ports, memory card slots, or the like, and one or more input/output components such as, for example, a graphical user interface, a display, a keyboard, a keypad, a trackball, a joystick, a touch-screen, a mouse, a switch, a dial, or the like, and any other peripheral device.
  • USB Universal Serial Bus
  • circuitry includes one or more user input/output components that are operably coupled to at least one computing device to control (electrical, electromechanical, software-implemented, firmware-implemented, or other control, or combinations thereof) at least one parameter associated with the application of cyclical movement by the system 20 , for example, controlling the duration and peak cyclic or oscillation frequency of the end effector of the system 20 .
  • circuitry of the system 20 includes a computer-readable media drive or memory slot configured to accept signal-bearing medium (e.g., computer-readable memory media, computer-readable recording media, or the like).
  • signal-bearing medium e.g., computer-readable memory media, computer-readable recording media, or the like.
  • a program for causing a system to execute any of the disclosed methods can be stored on, for example, a computer-readable recording medium (CRMM), a signal-bearing medium, or the like.
  • CRMM computer-readable recording medium
  • Non-limiting examples of signal-bearing media include a recordable type medium such as any form of flash memory, magnetic tape, floppy disk, a hard disk drive, a Compact Disc (CD), a Digital Video Disk (DVD), Blu-Ray Disc, a digital tape, a computer memory, or the like, as well as transmission type medium such as a digital and/or an analog communication medium (e.g., a fiber optic cable, a waveguide, a wired communications link, a wireless communication link (e.g., transmitter, receiver, transceiver, transmission logic, reception logic, etc.).
  • a recordable type medium such as any form of flash memory, magnetic tape, floppy disk, a hard disk drive, a Compact Disc (CD), a Digital Video Disk (DVD), Blu-Ray Disc, a digital tape, a computer memory, or the like
  • transmission type medium such as a digital and/or an analog communication medium (e.g., a fiber optic cable, a waveguide, a wired
  • signal-bearing media include, but are not limited to, DVD-ROM, DVD-RAM, DVD+RW, DVD-RW, DVD-R, DVD+R, CD-ROM, Super Audio CD, CD-R, CD+R, CD+RW, CD-RW, Video Compact Discs, Super Video Discs, flash memory, magnetic tape, magneto-optic disk, MINIDISC, non-volatile memory card, EEPROM, optical disk, optical storage, RAM, ROM, system memory, web server, or the like.

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  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Dentistry (AREA)
  • Epidemiology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Public Health (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Brushes (AREA)
  • Control Of Electric Motors In General (AREA)
US15/639,544 2017-06-30 2017-06-30 System for use with encoded end effectors and related methods of use Active 2038-03-14 US10603799B2 (en)

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US15/639,544 US10603799B2 (en) 2017-06-30 2017-06-30 System for use with encoded end effectors and related methods of use
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KR1020207002859A KR102329402B1 (ko) 2017-06-30 2018-06-19 인코딩된 엔드 이펙터들과 사용하기 위한 시스템 및 관련된 사용 방법들
JP2019572058A JP6865307B2 (ja) 2017-06-30 2018-06-19 エンコードされた末端エフェクタを使用するシステム及び関連する使用方法
EP18743880.9A EP3644791B1 (en) 2017-06-30 2018-06-19 System for use with encoded end effectors and related methods of use
ES18743880T ES2972404T3 (es) 2017-06-30 2018-06-19 Sistema para uso con efectores terminales codificados y métodos de uso relacionados
CN201880049575.9A CN110958848B (zh) 2017-06-30 2018-06-19 与编码的末端执行器一起使用的系统和相关的使用方法

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CN110958848B (zh) 2021-07-27
EP3644791A1 (en) 2020-05-06
KR102329402B1 (ko) 2021-11-19
EP3644791C0 (en) 2023-12-27
EP3644791B1 (en) 2023-12-27
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